Electronic device and method for spatial synchronization of videos

ABSTRACT

An electronic device is provided that determines initial three-dimensional (3D) coordinates of a lighting device. The electronic device controls an emission of light from the lighting device based on control signals. The emitted light includes at least one of a pattern of alternating light pulses or a continuous light pulse. The electronic device controls a plurality of imaging devices to capture a first plurality of images that include information about the emitted light. Based on the determined initial 3D coordinates and the information about the emitted light included in the first plurality of images, the electronic device estimates a plurality of rotation values and a plurality of translation values of each imaging device. Based on the plurality of rotation values and the plurality of translation values, the electronic device applies a simultaneous localization and mapping process for each imaging device, for spatial synchronization of the plurality of imaging devices.

REFERENCE

None.

FIELD

Various embodiments of the disclosure relate to video synchronization.More specifically, various embodiments of the disclosure relate to anelectronic device and a method for spatial synchronization of videos.

BACKGROUND

Typically, multiple imaging devices, such as cameras may be utilized torecord multiple videos of an object or a scene from differentviewpoints. Such recorded videos may be utilized in various industriesfor different purposes. For example, the recorded videos may be utilizedfor photogrammetry applications. In another example, the recorded videomay be utilized for applications, such as scene reconstruction foraugmented reality, virtual reality, three-dimensional (3D) objectdetection or motion capturing. Generally, the photogrammetryapplications and computer graphics applications may require informationabout extrinsic parameters of each camera of the multiple cameras toaccurately process the recorded videos. The extrinsic parameters of eachcamera may be determined by spatial synchronization (or calibration) ofthe multiple cameras. Conventional methods for the spatialsynchronization may include manual execution of a labor-intensive setup,that may be difficult to implement and may not guarantee accuracy in thecalibration of the multiple cameras. Moreover, conventional methods mayutilize measurement targets, such as checkerboard patterned-boards andidentifiable markers for the spatial synchronization of the multiplecameras, use of which may be time-consuming and inefficient to achievethe spatial synchronization of the multiple cameras.

Further limitations and disadvantages of conventional and traditionalapproaches will become apparent to one of skill in the art, throughcomparison of described systems with some aspects of the presentdisclosure, as set forth in the remainder of the present application andwith reference to the drawings.

SUMMARY

An electronic device and a method for spatial synchronization of videos,are provided substantially as shown in, and/or described in connectionwith, at least one of the figures, as set forth more completely in theclaims.

These and other features and advantages of the present disclosure may beappreciated from a review of the following detailed description of thepresent disclosure, along with the accompanying figures in which likereference numerals refer to like parts throughout.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram that illustrates an exemplary networkenvironment for spatial synchronization of videos, in accordance with anembodiment of the disclosure.

FIG. 2 is a block diagram that illustrates an exemplary electronicdevice for spatial synchronization of videos, in accordance with anembodiment of the disclosure.

FIG. 3 is a diagram that illustrates an exemplary synchronizationsignal, in accordance with an embodiment of the disclosure.

FIGS. 4A-4C collectively illustrate a diagram for exemplary operationsfor spatial synchronization of videos, in accordance with an embodimentof the disclosure.

FIG. 5 is a flowchart that illustrates an exemplary method for spatialsynchronization of videos, in accordance with an embodiment of thedisclosure.

DETAILED DESCRIPTION

The following described implementations may be found in the disclosedelectronic device and a method for spatial synchronization of aplurality of images (or videos) and capturing devices. Exemplary aspectsof the disclosure provide an electronic device for the spatialsynchronization of a plurality of imaging devices (for example, but arenot limited to, digital cameras, video cameras and cameras mounted ondrones and vehicles). The plurality of imaging devices may be utilizedto record an object or a scene from a plurality of viewpoints. Theelectronic device may be configured to determine initialthree-dimensional (3D) coordinates of a lighting device communicablycoupled to the electronic device. The lighting device may include a gridof lights and an edge light. The determined 3D coordinates may be forexample, global Cartesian coordinates of the lighting device in space.The electronic device may further control an emission of light from thelighting device based on one or more control signals. For example, theemission of light from one or more of the grid of lights and the edgelight may be controlled. The emitted light may include at least one of apattern of alternating light pulses or a continuous light pulse. Theelectronic device may further control the plurality of imaging devicesto capture a first plurality of images that may include informationabout the emitted light. For example, the lighting device may be in afield-of-view of a respective imaging device of the plurality of imagingdevices, while the plurality of imaging devices captures the firstplurality of images.

In accordance with an embodiment, the one or more control signals mayinclude a synchronization signal. The electronic device may control theemission of the light from the lighting device based on thesynchronization signal to determine a first set of images of the firstplurality of images. The electronic device may determine the first setof images of the first plurality of images that may include informationabout the pattern of alternating light pulses included in the emittedlight. For example, the first set of images may include informationabout an ON pulse pattern and an OFF pulse pattern of the pattern ofalternating light pulses.

The electronic device may further determine a center of each light ofthe grid of lights of the lighting device in a first set of frames ofthe first set of images. The first set of frames may include the ONpattern of the pattern of alternating light pulses. Based on thedetermined 3D coordinates, and the information about the pattern ofalternating light pulses included in the emitted light and included inthe first plurality of images, the electronic device may estimate afirst rotation value and a first translation value of a plurality ofrotation values and a plurality of translation values for each imagingdevice of the plurality of imaging devices.

In accordance with an embodiment, the electronic device may furthercontrol a transformation of each imaging device of the plurality ofimaging devices for a first time period. For example, the transformationof each imaging device may include at least a rotation or a translationof each imaging device towards the lighting device. Each imaging devicemay capture a second set of images of the first plurality of images. Theelectronic device may further determine a center of each light, of thegrid of lights of the lighting device, in the second set of images. Thesecond set of images may include information about the emitted lightthat may include the continuous light pulse. Based on the determined 3Dcoordinates of the lighting device and the determined center of eachlight (i.e. of the grid of lights of the lighting device) in the secondset of images, the electronic device may estimate a second rotationvalue and a second translation value of the estimated plurality ofrotation values and the plurality of translation values, for eachimaging device of the plurality of imaging devices. The electronicdevice may further apply a simultaneous localization and mapping (SLAM)process for each imaging device, based on the plurality of rotationvalues and the plurality of translation values, for accurate spatialsynchronization of the plurality of imaging devices.

In conventional systems, the spatial synchronization (or calibration) ofthe plurality of imaging devices may require manual execution of alabor-intensive setup, that may be difficult to implement and may notguarantee accuracy in the spatial synchronization. However, thedisclosed electronic device may enable calibration of the plurality ofimaging devices by use of one single device (such as the lightingdevice). The light emitted by the lighting device may be utilized tospatially synchronize the plurality of imaging devices, thereby,providing an easy-to-implement setup that may guarantee accuracy in thecalibration. Moreover, in the conventional systems, measurement targets,such as checkerboard patterned-boards and identifiable markers may beutilized for the spatial synchronization of the plurality of imagingdevices, use of which may be time-consuming and inefficient to achievethe calibration. In contrast, the disclosed electronic device mayeliminate a usage of the measurement targets to calibrate the pluralityof imaging devices, and may further calibrate the plurality of imagingdevices based on the determination of the extrinsic parameters (i.e.rotation and translation) of each imaging device based on theinformation included in the light emitted by the lighting device.Therefore, the disclosed electronic device may provide a time-effectiveand efficient spatial synchronization of the plurality of imagingdevices.

FIG. 1 is a block diagram that illustrates an exemplary networkenvironment for spatial synchronization of videos, in accordance with anembodiment of the disclosure. With reference to FIG. 1 , there is showna network environment 100. The network environment 100 may include anelectronic device 102 and a plurality of imaging devices 104. Theplurality of imaging devices 104 may include a first imaging device104A, a second imaging device 104B, and an Nth imaging device 104N. Thenetwork environment 100 may further include a lighting device 106. Thelighting device 106 may include a grid of lights 108, an edge light 110and a rotatable stand 112. The network environment 100 may furtherinclude a communication network 114. The electronic device 102, theplurality of imaging devices 104 and the lighting device 106 maycommunicate with each other, via the communication network 114.

The electronic device 102 may include suitable logic, circuitry,interfaces, and/or code that may be configured to spatially synchronize(or calibrate) the plurality of imaging devices 104 and images/videoscaptured by the plurality of imaging devices 104. The electronic device102 may be further configured to generate a synchronization signal thatmay be utilized for the spatial synchronization of the plurality ofimaging devices 104. Examples of the electronic device 102 may include,but are not limited to, an imaging controller, a photography engine, amovie controller, a computing device, a smartphone, a cellular phone, amobile phone, a gaming device, a mainframe machine, a server, a computerworkstation, and/or a consumer electronic (CE) device.

The plurality of imaging devices 104 may include suitable logic,circuitry, and interfaces that may be configured to capture a pluralityof images, such as the plurality of images of an object or a scene fromdifferent viewpoints. The plurality of imaging devices 104 may befurther configured to capture the plurality of images of light emittedby the lighting device 106. Examples of the plurality of imaging devices104 may include, but are not limited to, an image sensor, a wide-anglecamera, an action camera, a closed-circuit television (CCTV) camera, acamcorder, a digital camera, camera phones, a time-of-flight camera (ToFcamera), a night-vision camera, and/or other image capture devices. Insome embodiments, one or more imaging devices (such as the Nth imagingdevice 104N) of the plurality of imaging devices 104 may be mounted on adrone to capture one or more images of the plurality of images. In anembodiment, one or more imaging devices of the plurality of imagingdevices 104 may be mounted with a vehicle (such as a patrol vehicle).

The lighting device 106 may include suitable logic, circuitry, andinterfaces that may be configured to emit the light that may include atleast a pattern of alternating light pulses or a continuous light pulse.The lighting device 106 may be configured to emit the light based on oneor more control signals that may include the synchronization signalgenerated by the electronic device 102. In an embodiment, the grid oflights 108 of the lighting device 106 may include a plurality of shaped(for example round-shaped) lights arranged in form of a grid or amatrix. In an embodiment, each light of the grid of lights 108 may be alight-emitting diode (LED), a focused light bulb, or any lightingelement with a capability to emit a narrow beam light. The edge light110 of the lighting device 106 may be an LED panel or a bulb/tube-lightpanel that may be arranged on one or more sides of the lighting device106.

The communication network 114 may include a communication medium throughwhich the electronic device 102, the plurality of imaging devices 104,and the lighting device 106 may communicate with each other. Thecommunication network 114 may be one of a wired connection or a wirelessconnection. Examples of the communication network 114 may include, butare not limited to, the Internet, a cloud network, Cellular or WirelessMobile Network (such as Long-Term Evolution and 5G New Radio), aWireless Fidelity (Wi-Fi) network, a Personal Area Network (PAN), aLocal Area Network (LAN), or a Metropolitan Area Network (MAN). Variousdevices in the network environment 100 may be configured to connect tothe communication network 114 in accordance with various wired andwireless communication protocols. Examples of such wired and wirelesscommunication protocols may include, but are not limited to, at leastone of a Transmission Control Protocol and Internet Protocol (TCP/IP),User Datagram Protocol (UDP), Hypertext Transfer Protocol (HTTP), FileTransfer Protocol (FTP), Zig Bee, EDGE, IEEE 802.11, light fidelity(Li-Fi), 802.16, IEEE 802.11s, IEEE 802.11g, multi-hop communication,wireless access point (AP), device to device communication, cellularcommunication protocols, and Bluetooth (BT) communication protocols.

In operation, the plurality of imaging devices 104 may be utilized by auser (such as an imaging expert, a movie or video scene director, or avideographer) for different purposes, for example, to record a scenefrom different viewpoints. In an exemplary scenario, an area may beunder surveillance or may be used for recording the scene within thearea. The plurality of imaging devices 104 may be utilized by the userto monitor the area under surveillance or to record the scene. Forexample, the plurality of imaging devices 104 may include the CCTVcamera (for example, a first imaging device 104A), a camera installed inthe patrolling vehicle and camera installed in a drone, such as the Nthimaging device 104N. The electronic device 102 may be configured todetermine initial three-dimensional (3D) coordinates of the lightingdevice 106. The lighting device 106 may include the grid of lights 108and the edge light 110. The determined 3D coordinates may be forexample, the global Cartesian coordinates of the lighting device 106 inspace. The initial 3D coordinates may include an x-coordinate, ay-coordinate and a z-coordinate. For example, the electronic device 102may determine the initial 3D coordinates with respect to referenceCartesian coordinates of the lighting device 106 in the space. Detailsof the determination of the initial 3D coordinates are furtherdescribed, for example, in FIG. 4A.

The electronic device 102 may be further configured to control theemission of light from the lighting device 106 based on one or morecontrol signals. For example, the emission of the light from one or moreof the grid of lights 108 and the edge light 110 may be controlled basedon one or more control signals. In an exemplary scenario, the electronicdevice 102 may control a transformation (such as a rotation and atranslation) of the lighting device 106 towards each imaging device. Theemitted light may include at least one of the pattern of alternatinglight pulses or the continuous light pulse. The electronic device 102may further control the plurality of imaging devices 104 to capture thefirst plurality of images that may include information about the emittedlight. The electronic device 102 may rotate or translate the lightingdevice 106 (using the rotatable stand 112 or using any rotatable ormovable mechanism on which the lighting device 106 may be installed)towards each of the imaging device, such that the information about theemitted light may be recorded in the first plurality of images by eachof the imaging device For example, the lighting device 106 may be in thefield-of-view (FOV) of a respective imaging device of the plurality ofimaging devices 104, while the plurality of imaging devices 104 capturethe first plurality of images. Details of the control the emission oflight from the lighting device 106 based on one or more control signalsare further described, for example, in FIG. 4A-4C.

In accordance with an embodiment, the electronic device 102 may generatethe synchronization signal. The synchronization signal may include apreamble pulse and a sequence of alternating ON and OFF pulses. Thesynchronization signal may be generated based on a set of parametersassociated with each imaging device of the plurality of imaging devices104. The set of parameters may include at least a frame rate of eachimaging device of the plurality of imaging devices 104. Details of thegeneration of the synchronization signal are further described, forexample, in FIG. 3 .

In accordance with an embodiment, the one or more control signals mayinclude or correspond to the generated synchronization signal. Thus, theelectronic device 102 may control the emission of the light from thelighting device 106 based on the synchronization signal. In someembodiments, the electronic device 102 may activate the grid of lights108 of the lighting device 106 to generate an ON pattern of the patternof alternating light pulses included in the emitted light. Theelectronic device 102 may further deactivate the grid of lights 108 ofthe lighting device 106 to generate an OFF pattern of the pattern ofalternating light pulses included in the emitted light. Similarly, theelectronic device 102 may activate or deactivate the edge light 110 ofthe lighting device 106. Details of the control of the emission of thelight from the lighting device 106 based on the synchronization signalare further described, for example, in FIG. 4A.

The electronic device 102 may further determine a first set of images ofthe first plurality of images that may include information about thepattern of alternating light pulses included in the emitted light. Forexample, the first set of images may include the information about theON pulse pattern and the OFF pulse pattern of the pattern of alternatinglight pulses. The electronic device 102 may further determine a centerof each light of the grid of lights 108 in the first set of frames ofthe first set of images. The first set of frames may include the ONpattern of the pattern of alternating light pulses. Based on thedetermined 3D coordinates, and the information about the pattern ofalternating light pulses included in the emitted light included in thefirst plurality of images, the electronic device 102 may estimate afirst rotation value and a first translation value of a plurality ofrotation values and a plurality of translation values of each imagingdevice. Details of the estimation of the first rotation value and thefirst translation value are further described, for example, in FIG. 4C.

In accordance with an embodiment, the electronic device 102 may furthercontrol a transformation of each imaging device of the plurality ofimaging devices 104 for a first time period. For example, thetransformation of each imaging device may include at least the rotationor the translation of each imaging device towards the lighting device106. The first time period may correspond to, for example, a few secondsor milliseconds. Each imaging device may capture a second set of imagesof the first plurality of images. The electronic device 102 may furtherdetermine a center of each light, of the grid of lights 108 of thelighting device 106, in the second set of images. The second set ofimages may include information about the emitted light that may includethe continuous light pulse corresponding to the control signal. In someembodiments, the electronic device 102 may determine a set of featuresassociated with each image of the second set of images. The set offeatures may be utilized to determine a correspondence between objectsin the second set of images for calibration. Details of the capture ofthe second set of images are further described, for example, in FIG. 4C.

Based on the determined 3D coordinates of the lighting device 106 andthe determined center of each light of the grid of lights 108 in thesecond set of images, the electronic device 102 may estimate a secondrotation value and a second translation value of the estimated pluralityof rotation values and the plurality of translation values, for eachimaging device of the plurality of imaging devices 104. In someembodiments, the electronic device 102 may utilize the set of featuresfor estimation of the second rotation value and the second translationvalue. The second rotation value and the second translation value may beindicative of one or more extrinsic parameters associated with eachimaging device of the plurality of imaging devices 104. Details of theestimation of the second rotation value and the second translation valueare further described, for example, in FIG. 4C. The electronic device102 may further apply a simultaneous localization and mapping (SLAM)process for each imaging device, based on the plurality of rotationvalues and the plurality of translation values, for spatialsynchronization of the plurality of imaging devices 104. Thus, theplurality of imaging devices 104 may be calibrated accurately, byutilization of the lighting device 106.

FIG. 2 is a block diagram that illustrates an exemplary electronicdevice for spatial synchronization of videos, in accordance with anembodiment of the disclosure. With reference to FIG. 2 , there is showna block diagram 200 of the electronic device 102. The electronic device102 may include circuitry 202, a memory 204, an input/output (I/O)device 206, a direct current (DC) control circuit 208, and a networkinterface 210.

The circuitry 202 may include suitable logic, circuitry, and/orinterfaces, that may be configured to execute program instructionsassociated with different operations to be executed by the electronicdevice 102. For example, some of the operations may include control ofan emission of light from the lighting device 106, control the pluralityof imaging devices 104, estimation of a plurality of rotation values andtranslation values of each imaging device, and spatial synchronizationof each imaging device of the plurality of imaging devices 104 based onthe estimated plurality of rotation values and translation values. Thecircuitry 202 may include one or more specialized processing units,which may be implemented as a separate processor. In an embodiment, theone or more specialized processing units may be implemented as anintegrated processor or a cluster of processors that perform thefunctions of the one or more specialized processing units, collectively.The circuitry 202 may be implemented based on a number of processortechnologies known in the art. Examples of implementations of thecircuitry 202 may be an X86-based processor, a Graphics Processing Unit(GPU), a Reduced Instruction Set Computing (RISC) processor, anApplication-Specific Integrated Circuit (ASIC) processor, a ComplexInstruction Set Computing (CISC) processor, a microcontroller, a centralprocessing unit (CPU), and/or other control circuits.

The memory 204 may include suitable logic, circuitry, interfaces, and/orcode that may be configured to store the one or more instructions to beexecuted by the circuitry 202. The memory 204 may be configured to storea plurality of images that may include information about the lightemitted by the lighting device 106. In some embodiments, the memory 204may be configured to store a set of parameters (such as intrinsicparameters) associated with the plurality of imaging devices 104. Thememory 204 may further store the plurality of rotation values and theplurality of translation values of each imaging device of the pluralityof imaging devices 104. Examples of implementation of the memory 204 mayinclude, but are not limited to, Random Access Memory (RAM), Read OnlyMemory (ROM), Electrically Erasable Programmable Read-Only Memory(EEPROM), Hard Disk Drive (HDD), a Solid-State Drive (SSD), a CPU cache,and/or a Secure Digital (SD) card.

The I/O device 206 may include suitable logic, circuitry, and interfacesthat may be configured to receive an input and provide an output basedon the received input. For example, the I/O device 206 may receive aninput from a user to initiate the spatial synchronization of theplurality of imaging devices 104 (or the captured images). The I/Odevice 206 which may include various input and output devices, that maybe configured to communicate with the circuitry 202. Examples of the I/Odevice 206 may include, but are not limited to, a touch screen, akeyboard, a mouse, a joystick, a microphone, a display device, and aspeaker.

The DC control circuit 208 may include suitable logic, circuitry, andinterfaces that may be configured to control drive of the lightingdevice 106. The DC control circuit 208 may receive the one or morecontrol signal from the circuitry 202. The DC control circuit 208 mayactivate or deactivate the grid of lights 108 and the edge light 110 ofthe lighting device 106 based on the received one or more controlsignals. Based on the activation or deactivation of the lighting device106, the lighting device 106 may emit the light. The DC control circuit208 may further control a transformation (such as a rotation and atranslation) of the lighting device 106 towards each imaging device. TheDC control circuit 208 may further control the drive of the plurality ofimaging devices 104 to initiate capture of the plurality of images thatmay include the information about the emitted light. In someembodiments, the DC control circuit 208 may be further configured tocontrol the transformation (such as the rotation and the translation) ofeach imaging device of the plurality of imaging devices 104 towards thelighting device 106. In an exemplary embodiment, the DC control circuit208 may be a bipolar junction transistor (BJT) based control circuit ora metal oxide semiconductor field effect transistor (MOSFET) basedcontrol circuit which may be used to drive the lighting device 106 orthe plurality of imaging devices 104. In some embodiments, the DCcontrol circuit 208 may be a part of the circuitry 202. Although in FIG.2 , the DC control circuit 208 is shown separated from the circuitry202, the disclosure is not so limited. Accordingly, in some embodiments,the DC control circuit 208 may be integrated in the circuitry 202,without deviation from scope of the disclosure. In some embodiments, theDC control circuit 208 may be integrated in the lighting device 106 andmay receive an activation signal or a deactivation signal (such as thecontrol signal) from the circuitry 202, via the communication network114, to activate of deactivate the grid of lights 108 and the edge light110 of the lighting device 106.

The network interface 210 may comprise suitable logic, circuitry, and/orinterfaces that may be configured to facilitate communication betweenthe electronic device 102, the plurality of imaging devices 104, and thelighting device 106, via the communication network 114. The networkinterface 210 may be implemented by use of various known technologies tosupport wired or wireless communication of the electronic device 102with the communication network 114. The network interface 210 mayinclude, but is not limited to, an antenna, a radio frequency (RF)transceiver, one or more amplifiers, a tuner, one or more oscillators, adigital signal processor, a coder-decoder (CODEC) chipset, a subscriberidentity module (SIM) card, or a local buffer circuitry. The networkinterface 210 may be configured to communicate via wirelesscommunication with networks, such as the Internet, an Intranet or awireless network, such as a cellular telephone network, a wireless localarea network (LAN), and a metropolitan area network (MAN). The wirelesscommunication may be configured to use one or more of a plurality ofcommunication standards, protocols and technologies, such as GlobalSystem for Mobile Communications (GSM), Enhanced Data GSM Environment(EDGE), wideband code division multiple access (W-CDMA), Long TermEvolution (LTE), 5G communication, code division multiple access (CDMA),time division multiple access (TDMA), Bluetooth, Wireless Fidelity(Wi-Fi) (such as IEEE 802.11a, IEEE 802.11b, IEEE 802.11g or IEEE802.11n), voice over Internet Protocol (VoIP), light fidelity (Li-Fi),Worldwide Interoperability for Microwave Access (Wi-MAX), a protocol foremail, instant messaging, and a Short Message Service (SMS).

A person of ordinary skill in the art will understand that theelectronic device 102 in FIG. 2 may also include other suitablecomponents or systems, in addition to the components or systems whichare illustrated herein to describe and explain the function andoperation of the present disclosure. A detailed description for theother components or systems of the electronic device 102 has beenomitted from the disclosure for the sake of brevity. The operations ofthe circuitry 202 are further described, for example, in FIGS. 3, 4A, 4Band 4C.

FIG. 3 is a diagram that illustrates an exemplary synchronizationsignal, in accordance with an embodiment of the disclosure. FIG. 3 isexplained in conjunction with elements from FIGS. 1 and 2 . Withreference to FIG. 3 , there is shown an exemplary synchronization signal300. The synchronization signal 300 may include a preamble pulse 302 anda sequence of alternating ON/OFF pulses 304. The sequence of alternatingON/OFF pulses 304 may include a first OFF pulse 304A, a first ON pulse304B, a second OFF pulse 304C, a second ON pulse 304D, . . . , and anNth ON pulse 304N.

The circuitry 202 may be configured to generate the synchronizationsignal 300 as the one or more control signals, for estimation of thefirst rotation value and the first translation value of the plurality ofrotation values and the plurality of translation values. In someembodiments, the synchronization signal 300 may be a random sequence ofalternate ON/OFF pulses. In accordance with an embodiment, thesynchronization signal 300 may be based on a set of parametersassociated with each imaging device of the plurality of imaging devices104.

The circuitry 202 may be configured to determine the set of parametersassociated with each imaging device of the plurality of imaging devices104. The set of parameters may include at least the frame rate (inframes captured per second) of each imaging device. The set ofparameters associated with each imaging device may further include, butnot limited to, exposure information, shutter speed information,aperture information, sensitivity parameter, white balance information,focus information, and/or zooming information associated with eachimaging device. In an example, a white balance of each imaging devicemay be OFF. In an embodiment, the focus information and the zoominginformation may be same and constant for each imaging device of theplurality of imaging devices 104. In some embodiments, the circuitry 202may receive the set of parameters from respective imaging device of theplurality of imaging devices 104. In another embodiment, the set ofparameters for each imaging device may be stored in the memory 204, andthe circuitry 202 may further retrieve the set of parameters for eachimaging device from the memory 204.

The circuitry 202 may be configured to generate the synchronizationsignal 300 that may include the preamble pulse 302 of a first timeduration (such as a duration “T1”) and the sequence of alternating ONand OFF pulses 304. Each pulse of the sequence of alternating ON and OFFpulses 304 may be of a second time duration (such as a duration “D”, asshown in FIG. 3 ). In such a case, each pulse of the sequence ofalternating ON and OFF pulses 304 may be of the same second timeduration.

The first time duration may be based on the frame rate of each imagingdevice. The first time duration may be set such that the first timeduration may be equal to or more than a time duration of one or moreframes of the first plurality of images associated with or captured bythe plurality of imaging devices 104. In other words, the first timeduration may be set based on the total time duration (i.e. frameduration) of one or more frames captured by each of the plurality ofimaging devices 104. For example, the frame rate of the first imagingdevice 104A may be 30 fps, and the frame rate of the second imagingdevice 1048 may be 35 fps. In such a case, the first plurality of imagescaptured by the first imaging device 104A may have 30 frames within atime period of “1” second and the first plurality of images captured bythe second imaging device 1048 may have 35 frames within the time periodof “1” second. Thus, the first time duration (“T1) may be a sum of thetime duration of at least one frame (i.e. 33.33 milliseconds) capturedby the first imaging device 104A and the time duration of at least oneframe (i.e. 28.6 milliseconds) captured by the second imaging device1048. The circuitry 202 may set the first time duration (“T1″) in fewseconds, for example, 1-10 seconds. Thus, the preamble pulse 302 may bea long duration pulse.

The second time duration of each pulse of the sequence of alternating ONand OFF pulses 304 may be based on one or more parameters of thedetermined (or retrieved) set of parameters associated with each imagingdevice. The circuitry 202 may determine the second time duration, suchas to achieve sub-frame timing accuracy. The second time duration may bebased on equation (1) as follows:

D=n _(i)τ_(i) +p _(i)  (1)

where D is the second time duration, τ_(i) is a time period of eachframe of the first plurality of images and “i” represent an imagingdevice (such as the first imaging device 104A).

Further, τ_(i) =p _(i) ×q _(i)  (2)

where q_(i) is a first positive integer value, n_(i) is a secondpositive integer value corresponding to the imaging device (such as thefirst imaging device 104A), and p_(i) is an integer corresponding to aresolution of a subframe accuracy in milliseconds (msec) associated withthe imaging device (such as the first imaging device 104A).

In accordance with an embodiment, the set of parameters may include thefirst positive integer value and the second positive integer valuecorresponding to each imaging device of the plurality of imaging devices104. The circuitry 202 may be further configured to determine the firstpositive integer value and the second positive integer value based onthe corresponding frame rate of each imaging device of the plurality ofimaging devices 104.

In an exemplary scenario, the frame rate of the first imaging device104A may be f_(i) fps. Thus, the time period τ_(i) of each frame of thefirst plurality of images may be 1000/f_(i) milliseconds. Based on theframe rate of the first imaging device 104A, the circuitry 202 maydetermine the time period τ_(i) for the first imaging device 104A. Thecircuitry 202 may further determine the integer p_(i), based on theresolution of the first imaging device 104A and further determine thefirst positive integer value q_(i) utilizing equation 2.

Furthermore, the circuitry 202 may determine the second positive integervalue n_(i), based on a number of frames of the first plurality ofimages that may include the OFF pulse pattern of the sequence ofalternating ON and OFF pulses 304 or the ON pulse pattern of thesequence of alternating ON and OFF pulses 304. In an embodiment, then_(i) indicates the number of frames of the first plurality of images(i.e. captured by a particular imaging device) that may be included orcounted in the second time duration (“D). For example, in case thesecond time duration (“D”) is of 2000 msec and τ_(i) is 480 msec, thenn_(i) may be four, indicating that the four number of image frames maybe included in the second time duration (“D”).

The circuitry 202 may be determine the second time duration (D) of eachpulse of the sequence of alternating ON and OFF pulses 304 based on theframe rate f_(i), the determined first positive integer value q_(i), andthe determined second positive integer value n_(i) associated with eachimaging device of the plurality of imaging devices 104 by utilization ofequation 1. Each of the determined first positive integer value and thedetermined second positive integer value may correspond to the set ofparameters. For example, in case the second time duration (“D”) is 2000msec and the frame timing (τ_(i)) of images captured by the firstimaging device 104A is 480 msec, then n_(i) may be “4”, p_(i) may be“80” and q_(i) may be “6” based on equations (1) and (2). Similarly,based on known or predefined values of τ_(i), n_(i), p_(i), and q_(i),the second time duration (“D”) may be determined based on use ofequations (1) and (2). In some embodiments, the second time duration (D)may be determined utilizing a Chinese remainder theorem when the integerp_(i) and the time period τ_(i) may be natural numbers. In one or moreembodiments, the second time duration (D) may be determined by utilizinga least common multiple (LCM) and a greatest common divisor (GCD) offractions when the time period τ_(i) may be a rational number.

In accordance with an embodiment, a total duration (such as a duration“T2” shown in FIG. 3 ) of the sequence of alternating ON and OFF pulses304 of the synchronization signal 300 may be based on one or moreparameters of the set of parameters. The set of parameters may furtherinclude a third positive integer value that may correspond to the one ormore parameters of the set of parameters. The third positive integervalue “m” may be determined based on a tradeoff between asynchronization time and accuracy of the synchronization of the imagescaptured by the plurality of imaging devices 104. In some embodiments,the higher a value of the third positive integer value “m”, the highermay be the accuracy of the synchronization and higher may be a timerequired for the synchronization of the images. For example, the higherthe value of the third positive integer value “m”, the larger may be thetotal duration “T2” of the sequence of alternating ON and OFF pulses 304of the synchronization signal 300. In such a case, determination of thepattern of ON and OFF pulses corresponding to the sequence ofalternating ON and OFF pulses 304 in the captured images may be moretime consuming as additional pulses of the pattern of ON and OFF pulsesmay be determined for the synchronization. However, such a determinationof the additional pulses of the pattern of ON and OFF pulses may alsoensure more accuracy, as the determination of more number of pulses mayensure that the pattern of ON and OFF pulses may be correctly determinedin the captured images, thereby, reducing a false positive rate.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to determine the total duration (“T2”) of the sequence ofalternating ON and OFF pulses 304 of the synchronization signal 300based on the determined first positive integer value and the thirdpositive integer value. The total duration (“T2”) may be calculatedbased on equation (3), as follows:

T2=m*N  (3)

where “N”=max q_(i). In an embodiment, “N” may be determined based on amaximum value of the first positive integer value q_(i) corresponding toeach imaging device of the plurality of imaging devices 104. Thus, thecircuitry 202 may utilize equations (1), (2), and (3) to generate thesynchronization signal 300.

FIGS. 4A-4C collectively illustrates a diagram for exemplary operationsfor spatial synchronization of videos, in accordance with an embodimentof the disclosure. FIGS. 4A-4C are explained in conjunction withelements from FIGS. 1, 2 and 3 . With reference to FIGS. 4A-4C, there isshown a diagram 400. The diagram 400 may illustrate exemplary operationsfrom 402 to 438, as described herein. The exemplary operationsillustrated in the block diagram 400 may start at 402 and may beperformed by any computing system, apparatus, or device, such as by theelectronic device 102 of FIG. 1 or the circuitry 202 of FIG. 2 .Although illustrated with discrete blocks, the exemplary operationsassociated with one or more blocks of the block diagram 400 may bedivided into additional blocks, combined into fewer blocks, oreliminated, depending on implementation of the exemplary operations.

At 402, the circuitry 202 may be configured to determine the initial 3Dcoordinates of the lighting device 106. The lighting device 106 mayinclude the grid of lights 108 and the edge light 110 (as shown in FIG.1 ). In an embodiment, the initial 3D coordinates may be the Cartesiancoordinates, that may include the x-coordinate, the y-coordinate and thez-coordinate of a position of the lighting device 106 in the space. Thecircuitry 202 may determine the initial 3D coordinates of the lightingdevice 106, based on reference coordinates. The reference coordinatesmay be determined based on a position of the grid of lights 108 or theedge light 110 of the lighting device 106 with respect to the rotatablestand 112 (shown in FIG. 1 ) of the lighting device 106.

In an exemplary scenario, the grid of lights 108 and the edge light 110of the lighting device 106 may be parallel to the rotatable stand 112.In such a case, the reference coordinates of the lighting device 106 maybe (x, y, z)=(0,0,0) and the 3D coordinates (0,0,0) may be the referencecoordinates of the lighting device 106. The lighting device 106 may berotated and/or translated by rotation or translation, respectively, of aportion of the rotatable stand 112, such as that portion is attached tothe lighting device 106. The lighting device 106 may be positioned atdifferent angles by transformation (such as rotation or translation) ofthe rotatable stand 112 to transform the grid of lights 108 and the edgelight 110 of the lighting device 106 towards each imaging device. Thelighting device 106 may be transformed with respect to the plurality ofimaging devices 104 which may be positioned in front or at certain angleof the lighting device 106. For example, the grid of lights 108 may berotated towards the first imaging device 104A, to enable the firstimaging device 104A to capture the light emitted by the grid of lights108 of the lighting device 106. In another example, the edge light 110may be rotated or translated towards the first imaging device 104A, toenable the first imaging device 104A to capture the light emitted by theedge light 110 of the lighting device 106. The initial 3D coordinatesmay be determined, that may remain fixed with respect to the space. Inan embodiment, the reference coordinates (0,0,0) may be the initial 3Dcoordinates of the lighting device 106. The initial 3D coordinates ofthe lighting device 106 may be utilized to determine the rotation valueand the translation value of each imaging device of the plurality ofimaging devices 104.

At 404, the circuitry 202 may be configured to generate thesynchronization signal 300. The synchronization signal 300 may includethe preamble pulse 302 and the sequence of alternating ON and OFF pulses304. In accordance with an embodiment, the generation of thesynchronization signal 300 may be based on the set of parametersassociated with each imaging device of the plurality of imaging devices104. The set of parameters may include at least the frame rate of eachimaging device of the plurality of imaging devices 104. Details of thegeneration of the synchronization signal 300 are further described, forexample, in FIG. 3 .

At 406, the circuitry 202 may control the transformation (such as therotation and/or the translation) of the lighting device 106 towards eachimaging device of the plurality of imaging devices 104. For example,each imaging device may be installed at different locations (i.e. closeor at certain distance to the lighting device 106), to capture a scenefrom different viewpoints. The circuitry 202 may send a communicationsignal or a command to the lighting device 106, to further rotate andtranslate the lighting device 106 such that the grid of lights 108 ofthe lighting device 106 may be in a field-of-view (FOV) of each imagingdevice. In other words, the circuitry 202 may control the transformationof the lighting device 106 in a manner that the lighting device 106 mayface towards each imaging device of the plurality of imaging devices 104one by one. For example, the circuitry 202 may control thetransformation of the lighting device 106 towards the first imagingdevice 104A (as shown in FIG. 4A), then towards the second imagingdevice 1048, and so on.

At 408, the circuitry 202 may control an emission of light from thelighting device 106 based on the one or more control signals. Inaccordance with an embodiment, the circuitry 202 may control theemission of light from the lighting device 106 based on the generatedsynchronization signal 300. The one or more control signals may includethe synchronization signal 300. The emitted light may include thepattern of alternating light pulses corresponding to the synchronizationsignal 300. For example, the pattern of alternating light pulses mayinclude a preamble pulse pattern corresponding to the preamble pulse302, an ON pattern corresponding to the ON pulses of the sequence ofalternating ON and OFF pulses 304, and an OFF pattern corresponding tothe OFF pulses of the sequence of alternating ON and OFF pulses 304.

In accordance with an embodiment, the circuitry 202 may activate thegrid of lights 108 of the lighting device 106 to generate the ON patternof the pattern of alternating light pulses included in the emittedlight. The circuitry 202 may also deactivate the grid of lights 108 ofthe lighting device 106 to generate the OFF pattern of the pattern ofalternating light pulses included in the emitted light. In a situation,where the grid of lights 108 is activated, the edge light 110 of thelighting device 106 may be deactivated. Thus, the light that may includethe pattern of alternating light pulses may be emitted by the grid oflights 108 of the lighting device 106. For example, the circuitry 202may activate the grid of lights 108 for the second time duration “D”, togenerate the ON pattern. Further, the circuitry 202 may deactivate thegrid of lights 108 for the second time duration “D”, to generate the OFFpattern. Similarly, the circuitry 202 may activate the grid of lights108 for the first time duration “T1” to generate the preamble pulse 302.The circuitry 202 may activate the grid of lights 108 and deactivate thegrid of lights 108 sequentially for the total duration “T2”, to generatethe sequence of alternating ON and OFF pulses 304 of the synchronizationsignal 300.

At 410, the circuitry 202 may control each of the plurality of imagingdevices 104 to capture a first plurality of images that may includeinformation about the emitted light. For example, the first plurality ofimages may include the information about the emitted light (i.e. relatedto the synchronization signal 300) and a portion of the recorded sceneby the plurality of imaging devices 104. In accordance with anembodiment, the circuitry 202 may determine a first set of images fromthe first plurality of images that may include the information about thepattern of alternating light pulses included in the emitted light. Thefirst set of images may include the information about the ON pattern ofthe pattern of alternating light pulses as well as the OFF pattern ofthe pattern of alternating light pulses.

In accordance with an embodiment, the circuitry 202 may be configured tocontrol the plurality of imaging devices 104 to capture the first set ofimages based on a determination that the lighting device 106 may be inthe field-of-view of a respective imaging device of the plurality ofimaging devices 104. For example, the circuitry 202 may control thetransformation of the lighting device 106 towards the first imagingdevice 104A (as described at 408), such that the lighting device 106 maybe in the field-of-view of the first imaging device 104A. In otherwords, the first imaging device 104A may be able to see or capture thecomplete lighting device 106 when the grid of lights 108 are turned-onand the lighting device 106 are transformed towards the first imagingdevice 104A. The circuitry 202 may further control the first imagingdevice 104A to capture the first set of images of the first plurality ofimages. Similarly, the circuitry 202 may control the transformation ofthe lighting device 106 towards the second imaging device 1048 (at 408),such that the lighting device 106 may be in the field-of-view of thesecond imaging device 1048. The circuitry 202 may further control thesecond imaging device 1048 to capture the first set of images of thefirst plurality of images. In such a manner, the circuitry 202 maycapture the first set of images from each imaging device of theplurality of imaging devices 104.

At 412, the circuitry 202 may be configured to determine a center ofeach light of the grid of lights 108 in a first set of frames of thefirst set of images. The first set of frames may include the ON patternof the pattern of alternating light pulses. For example, the circuitry202 may determine the center of each light, such as a first light 412Aof the grid of lights 108 and the center of a second light 4128 of thegrid of lights 108. The circuitry 202 may further determine an end ofthe preamble pattern corresponding to the preamble pulse 302 based on astored framing offset corresponding to each imaging device. Thecircuitry 202 may select the first set of frames, based on anidentification of a frame that may include the stored framing offset.The pattern of alternating light pulses may be included in the frames(of the first plurality of images) that may come after the frame thatincludes the framing offset in a sequence. Thus, the circuitry 202 mayselect the first set of frames from the frames that may come after theframe that includes the framing offset.

In an exemplary scenario, each light of the grid of lights 108 may be acircular shaped light. The circuitry 202 may determine the center ofeach light of the grid of lights 108 of the lighting device 106 based ona light intensity in each frame of the first set of frames. For example,the emitted light at the center of each light of the grid of lights 108may have a maximum light intensity as compared to surrounding portionsof each light of the grid of lights 108. The circuitry 202 may determinethe light intensity in each pixel of each frame of the first set offrames to determine the center of each light of the grid of lights 108.In an embodiment, the circuitry 202 may determine a set of pixels ineach frame corresponding to the maximum light intensity as the center ofeach light of the grid of lights 108. Thus, based on the determinedlight intensity, the circuitry 202 may determine the center for eachlight of the grid of lights 108.

In accordance with an embodiment, the circuitry 202 may be configured toapply a set of post-processing operations on the first set of frames ofthe first set of images. The set of post-processing operations mayinclude, for example, a filtering operation. The circuitry 202 mayfilter-out one or more frames of the first set of frames that may havethe light intensity less than a threshold value. In some embodiments,the circuitry 202 may further determine the center of each light of thegrid of lights 108 of the lighting device 106 in the post-processedfirst set of frames of the first set of images. In some embodiments, theset of post-processing operations may further include, but is notlimited to, a pixel-level filtering operation for each of the first setof frames (such as including a noise removal operation, a contrastenhancement operation, and/or an edge smoothing operation).

In an exemplary scenario, a frame of the first set of frames may includea first portion of the ON pattern and a second portion of the OFFpattern of the pattern of alternating light pulses. The circuitry 202may determine that the first portion of the ON pattern may be less thanthe second portion of the OFF pattern of the pattern of alternatinglight pulses, based on the determined light intensity in the frame. Suchframe may be invaluable in the determination of the center of each lightof the grid of lights 108. Thus, based on the determination, thecircuitry 202 may apply the filtering operation to eliminate such framefrom the first set of frames. The circuitry 202 may determine the centerof each light of the grid of lights 108 in the post-processed first setof frames.

In accordance with an embodiment, the circuitry 202 may be configured toapply a neural network model (not shown) on the first set of frames ofthe first set of images to determine a first frame. The circuitry 202may further determine the center of each light of the grid of lights 108of the lighting device 106 in the determined first frame of the firstset of frames.

The neural network model may be a computational network or a system ofartificial neurons, arranged in a plurality of layers, as nodes. Theplurality of layers of the neural network model may include an inputlayer, one or more hidden layers, and an output layer. Each layer of theplurality of layers may include one or more nodes (or artificialneurons, represented by circles, for example). Outputs of all nodes inthe input layer may be coupled to at least one node of hidden layer(s).Similarly, inputs of each hidden layer may be coupled to outputs of atleast one node in other layers of the neural network. Outputs of eachhidden layer may be coupled to inputs of at least one node in otherlayers of the neural network. Node(s) in the final layer may receiveinputs from at least one hidden layer to output a result. The number oflayers and the number of nodes in each layer may be determined fromhyper-parameters of the neural network model. Such hyper-parameters maybe set before, while training, or after training of the neural networkmodel on a training dataset.

Each node of the neural network model may correspond to a mathematicalfunction (e.g., a sigmoid function or a rectified linear unit) with aset of parameters, tunable during training of the network. The set ofparameters may include, for example, a weight parameter, aregularization parameter, and the like. Each node may use themathematical function to compute an output based on one or more inputsfrom nodes in other layer(s) (e.g., previous layer(s)) of the neuralnetwork model. All or some of the nodes of the neural network model maycorrespond to same or a different same mathematical function. Intraining of the neural network model, one or more parameters of eachnode of the neural network model may be updated based on whether anoutput of the final layer for a given input (from the training dataset)matches a correct result based on a loss function for the neural networkmodel. The above process may be repeated for same or a different inputtill a minima of loss function may be achieved, and a training error maybe minimized. Several methods for training are known in art, forexample, gradient descent, stochastic gradient descent, batch gradientdescent, gradient boost, meta-heuristics, and the like.

The neural network model may include electronic data, which may beimplemented as, for example, a software component of an applicationexecutable on the electronic device 102. The neural network model mayrely on libraries, external scripts, or other logic/instructions forexecution by a processing device, such as the circuitry 202. The neuralnetwork model may include code and routines configured to enable acomputing device, such as the circuitry 202 to perform one or moreoperations for determination of the first frame of the first set offrames. Additionally or alternatively, the neural network model may beimplemented using hardware including a processor, a microprocessor(e.g., to perform or control performance of one or more operations), afield-programmable gate array (FPGA), or an application-specificintegrated circuit (ASIC). Alternatively, in some embodiments, theneural network model may be implemented using a combination of hardwareand software. Examples of the neural network model may include, but arenot limited to, a deep neural network (DNN), a convolutional neuralnetwork (CNN), a recurrent neural network (RNN), a CNN-recurrent neuralnetwork (CNN-RNN), an artificial neural network (ANN), a generativeadversarial network (GAN), a Long Short Term Memory (LSTM) network basedRNN, CNN+ANN, LSTM+ANN, a gated recurrent unit (GRU)-based RNN, a fullyconnected neural network, a Connectionist Temporal Classification (CTC)based RNN, a deep Bayesian neural network, and/or a combination of suchnetworks. In some embodiments, the learning engine may include numericalcomputation techniques using data flow graphs. In certain embodiments,the neural network model may be based on a hybrid architecture ofmultiple Deep Neural Networks (DNNs).

The circuitry 202 may train the neural network model to determine thefirst frame based on input of the first set of frames of the first setof images. In some embodiments, the circuitry 202 may apply an averagefunction to determine the first frame of the first set of frames todetermine the center of each light of the grid of lights 108 of thelighting device 106.

With respect to FIG. 4B, at 414, the circuitry 202 may be configured toactivate the edge light 110 of the lighting device 106. The edge light110 may be activated to emit light, such as a continuous light pulse. Insome embodiments, the circuitry 202 may deactivate the grid of lights108 of the lighting device 106 at the time of activation of the edgelight 110. The edge light 110 may be activated based on an electricalsignal (such as a control signal) transmitted from the circuitry 202 ofthe electronic device 102. In an embodiment, the circuitry 202 may beconfigured to control a light intensity of the edge light 110 at whichthe edge light 110 may emit the continuous light pulse.

At 416, the circuitry 202 may further control the transformation of thelighting device 106 towards each imaging device of the plurality ofimaging devices 104. The transformation may include at least one of therotation or the translation of the lighting device 106. The circuitry202 may control the transformation of the lighting device 106 such thatthe edge light 110 of the lighting device 106 may be in thefield-of-view of the plurality of imaging devices 104. In an exemplaryscenario, the circuitry 202 may control the rotation and/or translationof the lighting device 106, such that the edge light 110 may be in thefield-of-view of the first imaging device 104A. Similarly, the circuitry202 may further control the rotation and/or translation of the lightingdevice 106, such that the edge light 110 may be in the field-of-view ofthe second imaging device 104B, and so on. Thus, the circuitry 202 maycontrol the rotation and/or translation of the lighting device 106 toenable the plurality of imaging devices 104 to capture the continuouslight pulse emitted from the edge light 110.

At 418, the circuitry 202 may control the plurality of imaging devices104 to capture light emitted by the edge light 110, based on thetransformation of the lighting device 106. The circuitry 202 mayactivate the plurality of imaging devices 104 to capture the lightemitted by the edge light 110. In some embodiments, the plurality ofimaging devices 104 may be manually activated to capture the lightemitted by the edge light 110.

At 420, the circuitry 202 may be configured to receive, from theplurality of imaging devices 104, a second plurality of images capturedby the plurality of imaging devices 104. The received second pluralityof images may include information about the light emitted by the edgelight 110. In some embodiments, the second plurality of images mayinclude one or more images that may exclude the information about thelight emitted by the edge light 110. For example, the first imagingdevice 104A may be activated for a period of “5” seconds, and the edgelight 110 may emit the light for a period of “3” seconds. In such acase, the second plurality of images may include one or more imagescaptured for an additional period of “2” seconds, that may exclude theinformation about the light emitted by the edge light 110. The circuitry202 may utilize a sharp contrast in the light intensity (such asbrightness) in the second plurality of images to identify such one ormore images that may exclude the information about the light emitted bythe edge light 110. The circuitry 202 may further exclude the identifiedone or more images that may exclude the information about the lightemitted by the edge light 110. In such a manner, the circuitry 202 maydetermine the second plurality of images that may include theinformation about the light emitted by the edge light 110.

At 422, the circuitry 202 may be configured to estimate a slope of theinformation about the light emitted by the edge light 110 in the secondplurality of images captured by the plurality of imaging devices 104.For example, the information about the light emitted by the edge light110 may be different in each of the second plurality of images capturedby respective imaging device. For example, the circuitry 202 may controlthe transformation of the lighting device 106, such that the lightingdevice 106 may be at a first angle with respect to the first imagingdevice 104A. In such a case, the information about the light emitted bythe edge light 110 in the second plurality of images (i.e. captured bythe first imaging device 104A) may correspond to be at the first angle.Similarly, the information about the light emitted by the edge light 110in the second plurality of images (i.e. captured by the second imagingdevice 104B) may correspond to be at another angle different than thefirst angle (i.e. corresponding to the first imaging device 104A). Thecircuitry 202 may determine the slope of the information about the lightemitted by the edge light 110, based on a shape of the light (i.e.emitted by the edge light 110) captured in the second plurality ofimages.

At 424, the circuitry 202 may be configured to determine a set of gridlines 424A passing through the determined center of each light of thegrid of lights 108 of the lighting device 106 in the first set offrames, based on the estimated slope of the information about the lightemitted by the edge light 110 in the second plurality of images. The setof grid lines 424A may correspond to a set of vertical lines and a setof horizontal lines passing through the center of each light of the gridof lights 108.

In accordance with an embodiment, the circuitry 202 may be configured todetermine the set of grid lines 424A passing through the determinedcenter of each light of the grid of lights 108 in the first set offrames, based on a mathematical optimization function. For example, themathematical optimization function may be based on an argmin function.The mathematical optimization function may be defined using equation (4)as follows:

$\begin{matrix}{L^{*} = {{\underset{L}{\arg\min}{E_{pass}\left( {{\forall{l \in L}},I_{p \in l}} \right)}} + {E_{slope}\left( {{\forall{l \in L}},{l^{\prime} \in {N(l)}}} \right)}}} & (4)\end{matrix}$

where “L” may represent the set of grid lines 424A, constrained by theestimated slope of the information about the light emitted by the edgelight 110 in the second plurality of images. “I” may represent theinformation about the light of the grid of lights 108 in the first setof images. I_(p∈l) may represent the light intensity of a pixel passingthrough “l”.

In an embodiment, E_(pass)(I_(p∈l)) may be a smaller quantity, ifI_(p∈l) may be a bigger quantity. Further, N (I) may be neighboringlines of “l” in a same dimension of a pattern of the set of grid lines424A. Moreover, E_(slope) (l, l′) may be a smaller quantity ifdirections of “l” and “l′” may close in the second plurality of images.Based on the equation (4), the circuitry 202 may determine the set ofgrid lines 424A.

In accordance with an embodiment, the circuitry 202 may determine theset of grid lines 424A passing through the determined center of eachlight of the grid of lights 108 in the first set of frames based on theneural network model. For example, the neural network model may be thesame neural network model used to determine the first frame of the firstset of frames (i.e. described at 412). In some embodiments, thecircuitry 202 may utilize a transform function, such as Hough transformfunction to determine the set of grid lines 424A passing through thedetermined center of each light of the grid of lights 108 in the firstset of frames.

With respect to FIG. 4C, at 426, the circuitry 202 may be configured todetermine one or more projected 2D positions of the center of each lightin the first set of frames, based on an intersection of the determinedset of grid lines 424A. For example, the intersection of the determinedset of grid lines 424A may coincide with the center of each light in thefirst set of frames as shown, for example, in FIG. 4B). Thus, thecircuitry 202 may determine the one or more projected 2D positions,based on the intersection of the determined set of grid lines 424A.

At 428, the circuitry 202 may be configured to estimate a first rotationvalue of the plurality of rotation values and a first translation valueof the plurality of translation values, for each imaging device, basedon the initial 3D coordinates of the lighting device 106 and thedetermined center of each light of the grid of lights 108 in the firstset of frames. In some embodiments, the circuitry 202 may estimate thefirst rotation value and the first translation value, of each imagingdevice, based on the initial 3D coordinates of the lighting device 106and the determined one or more projected 2D positions of the center ofeach light.

In an exemplary scenario, the initial 3D coordinates of the lightingdevice 106 may be known. In such scenario, the circuitry 202 maydetermine the first rotation value and the first translation valuecorresponding to each imaging device. For example, the circuitry 202 maydetermine the first rotation value and the first translation valuecorresponding to the first imaging device 104A. Similarly, the circuitry202 may determine the first rotation value and the first translationvalue corresponding to the second imaging device 104B, and the Nthimaging device 104N. The first rotation value and the first translationvalue corresponding to each imaging device may be with respect to thecommon 3D coordinates (such as the initial 3D coordinates) of thelighting device 106.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to estimate the first rotation value and the firsttranslation value of the plurality of rotation values and the pluralityof translation values, for each imaging device of the plurality ofimaging devices 104, based on a perspective-n-point (PnP) technique. ThePnP technique may utilize the initial 3D coordinates of the lightingdevice 106 and the corresponding one or more projected 2D positions ofthe center of each light in the first set of frames to estimate thefirst rotation value and the first translation value. Each imagingdevice of the plurality of imaging devices 104 may achieve 6degrees-of-freedom (DOF). Thus, the PnP technique may be utilized todetermine the first rotation value that may include values correspondingto roll, pitch, and yaw of each imaging device, and the firsttranslation value.

At 430, the circuitry 202 may control the emission of light from thelighting device 106 based on a control signal (i.e. included in the oneor more control signals). The emitted light may include a continuouslight pulse corresponding to the control signal. The control signals mayenable the lighting device 106 to emit the continuous light pulse for aspecific time period.

In accordance with an embodiment, for the control of the emission of thelight from the lighting device 106 based on the control signal, thecircuitry 202 may activate the grid of lights 108 of the lighting device106 to emit the light. The circuitry 202 may further deactivate the edgelight 110 of the lighting device 106, at the time of activation of thegrid of lights 108. For example, the circuitry 202 may activate the gridof lights 108 of the lighting device 106 for the specific time period toemit the continuous light pulse. The grid of lights 108 may be activatedwhen the grid of lights 108 of the lighting device 106 may be in thefield-of-view of the respective imaging device of the plurality ofimaging devices 104.

At 432, the circuitry 202 may control the transformation of each imagingdevice of the plurality of imaging devices 104 for a first time period.Each imaging device may further capture a second set of images of thefirst plurality of images. For example, the circuitry 202 may controlthe transformation (i.e. rotation and/or translation) of each imagingdevice such that each imaging device may be able to capture the secondset of images, when the grid of lights 108 of the lighting device 106may be activated and in the field-of-view of the imaging device. In anexemplary scenario, the circuitry 202 may activate the grid of lights108 to emit the continuous light pulse. The circuitry 202 may controlthe rotation and/or the translation of the first imaging device 104Atowards the activated grid of lights 108. Further, the second set ofimages may be captured by the first imaging device 104A, based on thedetermination that the lighting device 106 may be in the field-of-viewof the first imaging device 104A of the plurality of imaging devices104. In a similar manner, the second set of images may be captured byeach imaging device of the plurality of imaging devices 104 based on thedetermination that the lighting device 106 may be in the field-of-viewof respective imaging device of the plurality of imaging devices 104.

At 434, a center of each light, of the grid of lights 108 of thelighting device 106, may be determined in the second set of images. Thecircuitry 202 may determine the center of each light, of the grid oflights 108, based on the light intensity in each image of the second setof images. For example, the circuitry 202 may determine the center ofeach light, of the grid of lights 108 in the second set of images, in asimilar manner as the center of each light of the grid of lights 108 maybe determined in the first set of frames of the first set of images(i.e. described, for example, at 412).

In some embodiments, the circuitry 202 may determine a set of featuresassociated with each image of the second set of images. The set offeatures may be utilized to determine a correspondence between objectsin the second set of images for calibration (or spatial synchronization)of the plurality of imaging devices 104. For example, the set offeatures may be determined based on a scale-invariant feature transform(SIFT) technique. In one or more embodiments, the set of features may bedetermined based on an oriented FAST and rotated BRIEF (ORB) techniqueapplied on the second set of images.

At 436, the circuitry 202 may be further configured to estimate theplurality of rotation values and the plurality of translation values ofeach imaging device, based on the determined 3D coordinates of thelighting device 106 and the information about the emitted light includedin the first plurality of images. In accordance with an embodiment, thecircuitry 202 may estimate a second rotation value and a secondtranslation value of the plurality of rotation values and the pluralityof translation values, for each imaging device of the plurality ofimaging devices 104, based on the determined 3D coordinates of thelighting device 106 and the determined center of each light of the gridof lights 108 of the lighting device in the second set of images. Insome embodiments, the circuitry 202 may further utilize the set offeatures for estimation of the second rotation value and the secondtranslation value. The plurality of rotation values and the plurality oftranslation values may include the estimated second rotation value andthe second translation value for each imaging device of the plurality ofimaging devices 104.

For example, the circuitry 202 may determine the second rotation valueand the second translation value corresponding to each imaging device.For example, the circuitry 202 may determine the second rotation valueand the second translation value corresponding to the first imagingdevice 104A. Similarly, the circuitry 202 may determine the secondrotation value and the second translation value corresponding to thesecond imaging device 104B, and the Nth imaging device 104N. The secondrotation value and the second translation value corresponding to eachimaging device may be with respect to the common 3D coordinates (such asthe initial 3D coordinates) of the lighting device 106. In accordancewith an embodiment, the circuitry 202 may be further configured toestimate the second rotation value and the second translation value ofthe plurality of rotation values and the plurality of translationvalues, for each imaging device of the plurality of imaging devices 104,based on the PnP technique (i.e. described at 428).

At 438, the circuitry 202 may be further configured to apply thesimultaneous localization and mapping (SLAM) process for each imagingdevice, based on the plurality of rotation values and the plurality oftranslation values (such as including the estimated second rotationvalue and the second translation value), for the spatial synchronization(or calibration) of the plurality of imaging devices 104. The circuitry202 may input the determined set of features in a 3D map correspondingto the SLAM process, to determine a spatial scaling factor for eachimaging device. Based on the determined set of features input in the 3Dmap and the estimated second rotation value and the second translationvalue, the circuitry 202 may apply the SLAM process for each imagingdevice of the plurality of imaging devices 104. Thus, the circuitry 202of the disclosed electronic device 102 may allow accurate calibration(or spatial synchronization) of each imaging device by application ofthe SLAM process on the estimated second rotation value and the secondtranslation value for each imaging device or on the plurality ofrotation values and the plurality of translation values. Therefore, theplurality of imaging devices 104 may be automatically calibrated (orspatially synchronized) accurately, by utilization of the singlelighting device 106. Thus, the disclosed electronic device 102 mayenable calibration of the plurality of imaging devices 104 by use of thesingle lighting device (such as the lighting device 106). The lightemitted by the lighting device 106 may be utilized to spatiallysynchronize the plurality of imaging devices 104 (as described, forexample, at 402-438), thereby, providing an easy-to-implement setup thatmay guarantee accuracy in the calibration. Moreover, in the conventionalsystems, measurement targets, such as checkerboard patterned-boards andidentifiable markers may be utilized for the spatial synchronization ofthe plurality of imaging devices, use of which may be time-consuming andinefficient to achieve the calibration. In contrast, the disclosedelectronic device 102 may eliminate a usage of such measurement targetsto calibrate the plurality of imaging devices, and may further calibratethe plurality of imaging devices 104 based on the determination of theextrinsic parameters (i.e. rotation and translation) of each imagingdevice based on the information included in the light emitted by thelighting device 106. Therefore, the disclosed electronic device 102 mayprovide a time-effective and efficient spatial synchronization of theplurality of imaging devices 104 and of the images/videos captured bythe plurality of imaging devices 104.

Although the diagram 400 is illustrated as discrete operations, such as402, 404, 406, 408, 410, 412, 414, 416, 418, 420, 422, 424, 426, 428,430, 432, 434, 436, and 438, the disclosure is not so limited.Accordingly, in certain embodiments, such discrete operations may befurther divided into additional operations, combined into feweroperations, or eliminated, depending on the particular implementationwithout detracting from the essence of the disclosed embodiments.

FIG. 5 is a flowchart that illustrates an exemplary method for spatialsynchronization of videos, in accordance with an embodiment of thedisclosure. FIG. 5 is explained in conjunction with elements from FIGS.1, 2, 3, 4A, 4B, and 4C. With reference to FIG. 5 , there is shown aflowchart 500. The operations of the flowchart 500 may be executed by acomputing system, such as the electronic device 102 or the circuitry202. The operations may start at 502 and proceed to 504.

At 504, the initial 3D coordinates of the lighting device 106 may bedetermined. The lighting device 106 may include the grid of lights 108and the edge light 110. In accordance with an embodiment, the circuitry202 may be configured to determine the initial 3D coordinates of thelighting device 106 as described, for example, in FIG. 4A (at 402).

At 506, the emission of light from the lighting device 106 may becontrolled based on the one or more control signals. The emitted lightmay include at least one of the pattern of alternating light pulses orthe continuous light pulse. In accordance with an embodiment, thecircuitry 202 may be configured to control the emission of light fromthe lighting device 106 based on the one or more control signals (i.e.including the synchronization signal 300) as described, for example, inFIG. 4A (at 408).

At 508, the plurality of imaging devices 104 may be controlled tocapture the first plurality of images that may include the informationabout the emitted light. In accordance with an embodiment, the circuitry202 may be configured to control the plurality of imaging devices 104 tocapture the first plurality of images that may include the informationabout the emitted light as described, for example, in FIG. 4A (at 410).

At 510, the plurality of rotation values and the plurality oftranslation values of each imaging device may be estimated, based on thedetermined 3D coordinates of the lighting device 106 and the informationabout the emitted light included in the first plurality of images. Inaccordance with an embodiment, the circuitry 202 may be configured toestimate the plurality of rotation values and the plurality oftranslation values of each imaging device, based on the determined 3Dcoordinates of the lighting device 106 and the information about theemitted light included in the first plurality of images as described,for example, in FIGS. 4A-4C (at least at 428 and 436).

At 512, the simultaneous localization and mapping (SLAM) process may beapplied for each imaging device, based on the plurality of rotationvalues and the plurality of translation values, for spatialsynchronization of the plurality of imaging devices 104. In accordancewith an embodiment, the circuitry 202 may be configured to apply theSLAM process for each imaging device, based on the plurality of rotationvalues and the plurality of translation values, for the spatialsynchronization of the plurality of imaging devices 104 as described,for example, in FIG. 4C (at 438).

Although the flowchart 500 is illustrated as discrete operations, suchas 504, 506, 508, 510, and 512, the disclosure is not so limited.Accordingly, in certain embodiments, such discrete operations may befurther divided into additional operations, combined into feweroperations, or eliminated, depending on the particular implementationwithout detracting from the essence of the disclosed embodiments.

Various embodiments of the disclosure may provide a non-transitorycomputer-readable medium having stored thereon, computer-executableinstructions that when executed by an electronic device (the electronicdevice 102) causes the electronic device 102 to execute operations. Theoperations may include determination of initial three-dimensional (3D)coordinates of a lighting device (such as the lighting device 106). Thelighting device 106 may include a grid of lights (such as the grid oflights 108) and an edge light (such as the edge light 110). Theoperations may further include control of an emission of light from thelighting device 106 based on one or more control signals. The emittedlight may include at least one of the pattern of alternating lightpulses or the continuous light pulse. The operations may further includecontrol of a plurality of imaging devices (such as the plurality ofimaging devices 104) to capture a first plurality of images that mayinclude information about the emitted light. The operations may furtherinclude estimation of a plurality of rotation values and a plurality oftranslation values of each imaging device, based on the determined 3Dcoordinates of the lighting device 106 and the information about theemitted light included in the first plurality of images. The operationsmay further include application of a simultaneous localization andmapping (SLAM) process for each imaging device, based on the pluralityof rotation values and the plurality of translation values, for spatialsynchronization of the plurality of imaging devices 104.

Exemplary aspects of the disclosure may include an electronic device(such as the electronic device 102). The electronic device 102 mayinclude circuitry (such as the circuitry 202) that may be configured todetermine initial three-dimensional (3D) coordinates of a lightingdevice (such as the lighting device 106). The lighting device 106 mayinclude a grid of lights (such as the grid of lights 108) and an edgelight (such as the edge light 110). The circuitry 202 may be furtherconfigured to control an emission of light from the lighting device 106based on one or more control signals. The emitted light may include atleast one of the pattern of alternating light pulses or the continuouslight pulse. The circuitry 202 may be further configured to control aplurality of imaging devices (such as the plurality of imaging devices104) to capture a first plurality of images that may include informationabout the emitted light. The circuitry 202 may be further configured toestimate a plurality of rotation values and a plurality of translationvalues of each imaging device, based on the determined 3D coordinates ofthe lighting device 106 and the information about the emitted lightincluded in the first plurality of images. The circuitry 202 may befurther configured to apply a simultaneous localization and mapping(SLAM) process for each imaging device, based on the plurality ofrotation values and the plurality of translation values, for spatialsynchronization of the plurality of imaging devices 104.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to generate a synchronization signal (such as thesynchronization signal 300) that may include a preamble pulse (such asthe preamble pulse 302) and sequence of alternating ON and OFF pulses(such as the sequence of alternating ON and OFF pulses 304). The one ormore control signals may include the synchronization signal 300. Thecircuitry 202 may control the emission of light from the lighting device106 based on the generated synchronization signal 300 that may includethe pattern of alternating light pulses corresponding to the generatedsynchronization signal 300. In accordance with an embodiment, thecircuitry 202 may be further configured to generate the synchronizationsignal 300 based on the set of parameters associated with each imagingdevice of the plurality of imaging devices 104. The set of parametersmay include at least the frame rate of each imaging device of theplurality of imaging devices 104.

In accordance with an embodiment, for the control of the emission of thelight from the lighting device 106 based on the generatedsynchronization signal 300, the circuitry 202 may be further configuredto activate the grid of lights 108 of the lighting device 106 togenerate the ON pattern of the pattern of alternating light pulsesincluded in the emitted light. The circuitry 202 may further deactivatethe grid of lights 108 of the lighting device 106 to generate the OFFpattern of the pattern of alternating light pulses included in theemitted light. The circuitry 202 may deactivate the edge light 110 ofthe lighting device 106.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to determine a first set of images of the first plurality ofimages that may include information about the pattern of alternatinglight pulses included in the emitted light. The circuitry 202 maydetermine the center of each light of the grid of lights 108 of thelighting device 106 in a first set of frames of the first set of images.The first set of frames may include the ON pattern of the pattern ofalternating light pulses. The circuitry 202 may further estimate a firstrotation value and a first translation value of the plurality ofrotation values and the plurality of translation values, for eachimaging device, based on the 3D coordinates of the lighting device 106and the determined center of each light of the grid of lights 108 in thefirst set of frames.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to control the plurality of imaging devices 104 to capturethe first set of images based on the determination that the lightingdevice 106 may be in the field-of-view of the respective imaging deviceof the plurality of imaging devices 104. In accordance with anembodiment, the circuitry 202 may be further configured to apply the setof post-processing operations on the first set of frames of the firstplurality of images. The circuitry 202 may determine the center of eachlight of the grid of lights 108 of the lighting device 106 in thepost-processed first set of frames of the first plurality of images.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to apply the neural network model on the first set of framesof the first plurality of images to determine a first frame. The firstframe may include the information about the pattern of alternating lightpulses. The circuitry 202 may further determine the center of each lightof the grid of lights 108 of the lighting device 106 in the determinedfirst frame of the first set of frames.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to control the lighting device 106 to activate the edge light110 of the lighting device 106. The circuitry 202 may control thetransformation of the lighting device 106 towards each imaging device ofthe plurality of imaging devices 104. The transformation may include atleast one of the rotation or the translation of the lighting device 106.The circuitry 202 may control the plurality of imaging devices 104 tocapture light emitted by the edge light 110, based on the transformationof the lighting device 106. The circuitry 202 may receive, from theplurality of imaging devices 104, a second plurality of images capturedby the plurality of imaging devices 104. The received second pluralityof images may include information about the light emitted by the edgelight 110. The circuitry 202 may estimate a slope of the informationabout the light emitted by the edge light 110 in the second plurality ofimages captured by the plurality of imaging devices 104.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to determine a set of grid lines (such as the set of gridlines 424A) passing through the determined center of each light of thegrid of lights 108 of the lighting device 106 in the first set offrames, based on the estimated slope of the information about the lightemitted by the edge light in the second plurality of images. Thecircuitry 202 may further determine one or more projected 2D positionsof the center of each light in the first set of frames, based on theintersection of the determined set of grid lines 424A. The circuitry 202may estimate the first rotation value and the first translation value ofthe plurality of rotation values and the plurality of translationvalues, of each imaging device, based on the 3D coordinates of thelighting device 106 and the determined one or more projected 2Dpositions of the center of each light.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to estimate the first rotation value and the firsttranslation value of the plurality of rotation values and the pluralityof translation values, for each imaging device of the plurality ofimaging devices, based on a perspective-n-point (PnP) technique. Inaccordance with an embodiment, the circuitry 202 may be furtherconfigured to determine the set of grid lines 424A passing through thedetermined center of each light of the grid of lights 108 in the firstset of frames, based on the mathematical optimization function. Inaccordance with an embodiment, the circuitry 202 may be furtherconfigured to determine the set of grid lines 424A passing through thedetermined center of each light of the grid of lights 108 in the firstset of frames based on the neural network model.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to control the emission of the light from the lighting device106 based on the control signal. The emitted light may include thecontinuous light pulse corresponding to the control signal. The one ormore control signals may include the control signal. In accordance withan embodiment, the circuitry 202 may be further configured to, for thecontrol of the emission of the light from the lighting device 106 basedon the control signal, activate the grid of lights 108 of the lightingdevice 106 to emit the light. The circuitry 202 may further deactivatethe edge light 110 of the lighting device 106.

In accordance with an embodiment, the circuitry 202 may be furtherconfigured to control the transformation of each imaging device of theplurality of imaging devices 104 for a first time period. Each imagingdevice may capture a second set of images of the first plurality ofimages. The circuitry 202 may determine the center of each light, of thegrid of lights 108 of the lighting device 106, in the second set ofimages. The second set of images may include information about theemitted light that may include the continuous light pulse. The circuitry202 may estimate a second rotation value and a second translation valueof the estimated plurality of rotation values and the plurality oftranslation values, for each imaging device of the plurality of imagingdevices 104, based on the determined 3D coordinates of the lightingdevice 106 and the determined center of each light of the grid of lights108 of the lighting device 106 in the second set of images. Thecircuitry 202 may further apply the SLAM process for each imagingdevice, based on the estimated second rotation value and the secondtranslation value, for the spatial synchronization of the plurality ofimaging devices 104. In accordance with an embodiment, the circuitry 202may be further configured to control each imaging device of theplurality of imaging devices 104 to capture the second set of images,based on the determination that the lighting device 106 may be in thefield-of-view of the respective imaging device of the plurality ofimaging devices 104.

The present disclosure may be realized in hardware, or a combination ofhardware and software. The present disclosure may be realized in acentralized fashion, in at least one computer system, or in adistributed fashion, where different elements may be spread acrossseveral interconnected computer systems. A computer system or otherapparatus adapted to carry out the methods described herein may besuited. A combination of hardware and software may be a general-purposecomputer system with a computer program that, when loaded and executed,may control the computer system such that it carries out the methodsdescribed herein. The present disclosure may be realized in hardwarethat comprises a portion of an integrated circuit that also performsother functions.

The present disclosure may also be embedded in a computer programproduct, which comprises all the features that enable the implementationof the methods described herein, and which when loaded in a computersystem is able to carry out these methods. Computer program, in thepresent context, means any expression, in any language, code ornotation, of a set of instructions intended to cause a system withinformation processing capability to perform a particular functioneither directly, or after either or both of the following: a) conversionto another language, code or notation; b) reproduction in a differentmaterial form.

While the present disclosure is described with reference to certainembodiments, it will be understood by those skilled in the art thatvarious changes may be made, and equivalents may be substituted withoutdeparture from the scope of the present disclosure. In addition, manymodifications may be made to adapt a particular situation or material tothe teachings of the present disclosure without departure from itsscope. Therefore, it is intended that the present disclosure not belimited to the particular embodiment disclosed, but that the presentdisclosure will include all embodiments that fall within the scope ofthe appended claims.

What is claimed is:
 1. An electronic device, comprising: circuitrycommunicatively coupled to a plurality of imaging devices and a lightingdevice, wherein the circuitry is configured to: determine initialthree-dimensional (3D) coordinates of the lighting device, wherein thelighting device includes a grid of lights and an edge light; control anemission of light from the lighting device based on one or more controlsignals, wherein the emitted light includes at least one of a pattern ofalternating light pulses or a continuous light pulse; control theplurality of imaging devices to capture a first plurality of images thatinclude information about the emitted light; estimate a plurality ofrotation values and a plurality of translation values of each imagingdevice, based on the determined initial 3D coordinates of the lightingdevice and the information about the emitted light included in the firstplurality of images; and apply a simultaneous localization and mapping(SLAM) process for each imaging device, based on the plurality ofrotation values and the plurality of translation values, for spatialsynchronization of the plurality of imaging devices.
 2. The electronicdevice according to claim 1, wherein the circuitry is further configuredto: generate a synchronization signal that includes a preamble pulse anda sequence of alternating ON and OFF pulse, wherein the one or morecontrol signals includes the synchronization signal; and control theemission of light from the lighting device based on the generatedsynchronization signal that includes the pattern of alternating lightpulses corresponding to the generated synchronization signal.
 3. Theelectronic device according to claim 2, wherein the circuitry is furtherconfigured to generate the synchronization signal based on a set ofparameters associated with each imaging device of the plurality ofimaging devices, and wherein the set of parameters include at least aframe rate of each imaging device of the plurality of imaging devices.4. The electronic device according to claim 2, wherein for the controlof the emission of the light from the lighting device based on thegenerated synchronization signal, the circuitry is further configuredto: activate the grid of lights of the lighting device to generate an ONpattern of the pattern of alternating light pulses included in theemitted light; deactivate the grid of lights of the lighting device togenerate an OFF pattern of the pattern of alternating light pulsesincluded in the emitted light; and deactivate the edge light of thelighting device.
 5. The electronic device according to claim 1, whereinthe circuitry is further configured to: determine a first set of imagesof the first plurality of images that includes information about thepattern of alternating light pulses included in the emitted light;determine a center of each light of the grid of lights of the lightingdevice in a first set of frames of the first set of images, wherein thefirst set of frames includes an ON pattern of the pattern of alternatinglight pulses; and estimate a first rotation value and a firsttranslation value of the plurality of rotation values and the pluralityof translation values, for each imaging device, based on the initial 3Dcoordinates of the lighting device and the determined center of eachlight of the grid of lights in the first set of frames.
 6. Theelectronic device according to claim 5, wherein the circuitry is furtherconfigured to control the plurality of imaging devices to capture thefirst set of images based on a determination that the lighting device isin a field-of-view of a respective imaging device of the plurality ofimaging devices.
 7. The electronic device according to claim 5, whereinthe circuitry is further configured to: apply a set of post-processingoperations on the first set of frames of the first plurality of images;and determine the center of each light of the grid of lights of thelighting device in the post-processed first set of frames of the firstplurality of images.
 8. The electronic device according to claim 5,wherein the circuitry is further configured to: apply a neural networkmodel on the first set of frames of the first plurality of images todetermine a first frame, wherein the first frame includes theinformation about the pattern of alternating light pulses; and determinethe center of each light of the grid of lights of the lighting device inthe determined first frame of the first set of frames.
 9. The electronicdevice according to claim 5, wherein the circuitry is further configuredto: control the lighting device to activate the edge light of thelighting device; control a transformation of the lighting device towardseach imaging device of the plurality of imaging devices, wherein thetransformation includes at least one of a rotation or a translation ofthe lighting device; control the plurality of imaging devices to capturelight emitted by the edge light, based on the transformation of thelighting device; receive, from the plurality of imaging devices, asecond plurality of images captured by the plurality of imaging devices,wherein the received second plurality of images includes informationabout the light emitted by the edge light; and estimate a slope of theinformation about the light emitted by the edge light in the secondplurality of images captured by the plurality of imaging devices. 10.The electronic device according to claim 9, wherein the circuitry isfurther configured to: determine a set of grid lines passing through thedetermined center of each light of the grid of lights of the lightingdevice in the first set of frames, based on the estimated slope of theinformation about the light emitted by the edge light in the secondplurality of images; determine one or more projected 2D positions of thecenter of each light in the first set of frames, based on anintersection of the determined set of grid lines; and estimate the firstrotation value and the first translation value of the plurality ofrotation values and the plurality of translation values, of each imagingdevice, based on the initial 3D coordinates of the lighting device andthe determined one or more projected 2D positions of the center of eachlight.
 11. The electronic device according to claim 1, wherein thecircuitry is further configured to estimate a first rotation value and afirst translation value of the plurality of rotation values and theplurality of translation values, for each imaging device of theplurality of imaging devices, based on a perspective-n-point (PnP)technique.
 12. The electronic device according to claim 10, wherein thecircuitry is further configured to determine the set of grid linespassing through the determined center of each light of the grid oflights in the first set of frames, based on a mathematical optimizationfunction.
 13. The electronic device according to claim 10, wherein thecircuitry is further configured to determine the set of grid linespassing, through the determined center of each light of the grid oflights in the first set of frames, based on a neural network model. 14.The electronic device according to claim 1, wherein the circuitry isfurther configured to control the emission of the light from thelighting device based on a control signal, wherein the emitted lightincludes the continuous light pulse corresponding to the control signal,and wherein the one or more control signals includes the control signal.15. The electronic device according to claim 14, wherein, the circuitryis further configured to: for the control of the emission of the lightfrom the lighting device based on the control signal: activate the gridof lights of the lighting device to emit the light; and deactivate theedge light of the lighting device.
 16. The electronic device accordingto claim 1, wherein the circuitry is further configured to: control atransformation of each imaging device of the plurality of imagingdevices for a first time period, wherein each imaging device captures asecond set of images of the first plurality of images; determine acenter of each light, of the grid of lights of the lighting device, inthe second set of images, wherein the second set of images includesinformation about the emitted light that includes the continuous lightpulse; estimate a second rotation value and a second translation valueof the estimated plurality of rotation values and the plurality oftranslation values, for each imaging device of the plurality of imagingdevices, based on the determined initial 3D coordinates of the lightingdevice and the determined center of each light of the grid of lights ofthe lighting device in the second set of images; and apply the SLAMprocess for each imaging device, based on the estimated second rotationvalue and the second translation value, for the spatial synchronizationof the plurality of imaging devices.
 17. The electronic device accordingto claim 16, wherein the circuitry is further configured to control eachimaging device of the plurality of imaging devices to capture the secondset of images, based on a determination that the lighting device is in afield-of-view of a respective imaging device of the plurality of imagingdevices.
 18. A method, comprising: in an electronic devicecommunicatively coupled to a plurality of imaging devices and a lightingdevice: determining initial three-dimensional (3D) coordinates of thelighting device, wherein the lighting device includes a grid of lightsand an edge light; controlling an emission of light from the lightingdevice based on one or more control signals, wherein the emitted lightincludes at least one of a pattern of alternating light pulses or acontinuous light pulse; controlling the plurality of imaging devices tocapture a first plurality of images that include information about theemitted light; estimating a plurality of rotation values and a pluralityof translation values of each imaging device, based on the determined 3Dcoordinates of the lighting device and the information about the emittedlight included in the first plurality of images; and applying asimultaneous localization and mapping (SLAM) process for each imagingdevice, based on the plurality of rotation values and the plurality oftranslation values, for spatial synchronization of the plurality ofimaging devices.
 19. The method according to claim 18, furthercomprising: generating a synchronization signal that includes a preamblepulse and a sequence of alternating ON and OFF pulse, wherein the one ormore control signals includes the synchronization signal; andcontrolling the emission of light from the lighting device based on thegenerated synchronization signal that includes the pattern ofalternating light pulses corresponding to the generated synchronizationsignal.
 20. A non-transitory computer-readable medium having storedthereon, computer-executable instructions that when executed by anelectronic device, causes the electronic device to execute operations,the operations comprising: determining initial three-dimensional (3D)coordinates of a lighting device coupled to the electronic device,wherein the lighting device includes a grid of lights and an edge light;controlling an emission of light from the lighting device based on oneor more control signals, wherein the emitted light includes at least oneof a pattern of alternating light pulses or a continuous light pulse;controlling a plurality of imaging devices, coupled to the electronicdevice, to capture a first plurality of images that include informationabout the emitted light; estimating a plurality of rotation values and aplurality of translation values of each imaging device, based on thedetermined 3D coordinates of the lighting device and the informationabout the emitted light included in the first plurality of images; andapplying a simultaneous localization and mapping (SLAM) process for eachimaging device, based on the plurality of rotation values and theplurality of translation values, for spatial synchronization of theplurality of imaging devices.